Release update 2026-11-05: new sessions, instructions, annotations (part 31)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +28 -0
- actions/locomanipulation/LM85/session_051/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM85/session_051/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/cameras/poses.npz +3 -0
- actions/locomanipulation/LM85/session_052/meta.json +604 -0
- actions/locomanipulation/LM85/session_052/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM85/session_052/motions/markers.npz +3 -0
- actions/locomanipulation/LM85/session_052/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM85/session_052/motions/objects.json +52 -0
- actions/locomanipulation/LM85/session_052/motions/objects.npz +3 -0
- actions/locomanipulation/LM85/session_052/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM85/session_052/motions/smplx.npz +3 -0
- actions/locomanipulation/LM85/session_052/raw/audio.wav +3 -0
- actions/locomanipulation/LM85/session_052/raw/manifest.json +308 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/LittleBox5.csv +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/LittleBox5.trc +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM85/session_052/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM85/session_052/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM85/session_052/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM85/session_052/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM85/session_052/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM85/session_052/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM85/session_052/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM85/session_053/cameras/poses.npz +3 -0
- actions/locomanipulation/LM85/session_053/meta.json +522 -0
- actions/locomanipulation/LM85/session_053/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM85/session_053/motions/markers.npz +3 -0
- actions/locomanipulation/LM85/session_053/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM85/session_053/motions/objects.json +52 -0
.gitattributes
CHANGED
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@@ -48418,3 +48418,31 @@ actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_imu_left.db filt
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| 48418 |
actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48419 |
actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 48418 |
actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48419 |
actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 48420 |
actions/locomanipulation/LM85/session_051/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 48421 |
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actions/locomanipulation/LM85/session_052/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM85/session_052/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 48423 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48424 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48425 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 48426 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48427 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48428 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 48429 |
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actions/locomanipulation/LM85/session_052/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 48430 |
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actions/locomanipulation/LM85/session_053/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 48431 |
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actions/locomanipulation/LM85/session_053/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 48432 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48433 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48434 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 48435 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48436 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48437 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 48438 |
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actions/locomanipulation/LM85/session_053/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 48439 |
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actions/locomanipulation/LM85/session_054/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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| 48440 |
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actions/locomanipulation/LM85/session_054/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 48441 |
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actions/locomanipulation/LM85/session_054/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 48442 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48443 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48444 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 48445 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 48446 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 48447 |
+
actions/locomanipulation/LM85/session_054/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 48448 |
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actions/locomanipulation/LM85/session_054/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM85/session_051/videos/wrist_left.mp4
ADDED
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@@ -0,0 +1,3 @@
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oid sha256:e1d3345b41a959f81963466d0402618591fe3824e8f1e377981e118ac050e8cb
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size 36118598
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actions/locomanipulation/LM85/session_051/videos/wrist_right.mp4
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 30849300
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actions/locomanipulation/LM85/session_052/cameras/poses.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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size 1199983
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actions/locomanipulation/LM85/session_052/meta.json
ADDED
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@@ -0,0 +1,604 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM85/20261028_081844_session78",
|
| 4 |
+
"session_id": "20261028_081844_session78",
|
| 5 |
+
"primitive": "LM85",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T20:05:43.175907+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 138.05833333333334,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.081982,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9643,
|
| 32 |
+
"reference_imu_first_sample_s": 27221.39150733,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9967249879378369,
|
| 36 |
+
"drift_ppm": 8.097573102765812,
|
| 37 |
+
"drift_se_ppm": 4.166517566799936,
|
| 38 |
+
"drift_ms_over_take": 1.1178699668368206,
|
| 39 |
+
"lag_scatter_ms": 0.39527056266571653,
|
| 40 |
+
"lag_range_ms": 1.6254791856845918
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27870,
|
| 76 |
+
"n_gyro": 27866,
|
| 77 |
+
"t_start": -0.09352385020304711,
|
| 78 |
+
"t_end": 138.23593040779394
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27738,
|
| 82 |
+
"n_gyro": 27731,
|
| 83 |
+
"t_start": 0.013793124794909892,
|
| 84 |
+
"t_end": 138.41466321479618
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 28027,
|
| 88 |
+
"n_gyro": 28038,
|
| 89 |
+
"t_start": -0.7618200842049474,
|
| 90 |
+
"t_end": 137.3721687567953
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27896,
|
| 94 |
+
"n_gyro": 27897,
|
| 95 |
+
"t_start": -0.8458778672035179,
|
| 96 |
+
"t_end": 137.3715459817971
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13849,
|
| 100 |
+
"t_start": 0.09663791679428767,
|
| 101 |
+
"t_end": 138.576624857796
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13812,
|
| 105 |
+
"t_start": -0.7390787242044381,
|
| 106 |
+
"t_end": 137.37163858179645
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13821,
|
| 110 |
+
"t_start": -0.829011348204068,
|
| 111 |
+
"t_end": 137.37105564279716
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 27221.511107,
|
| 118 |
+
"frames": 4141,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04017188123850145,
|
| 124 |
+
"t_end": 138.04009388123757,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 27221.511064,
|
| 131 |
+
"frames": 4141,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039941115871778385,
|
| 137 |
+
"t_end": 138.03987411587093,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 27221.511095,
|
| 144 |
+
"frames": 4141,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.04027810100466821,
|
| 150 |
+
"t_end": 138.04020010100373,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 27221.511119,
|
| 157 |
+
"frames": 4141,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.0402248242893337,
|
| 163 |
+
"t_end": 138.0401468242884,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 27221.511081,
|
| 170 |
+
"frames": 4137,
|
| 171 |
+
"pts_gaps": 4,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": 29.9,
|
| 177 |
+
"corr": 0.779,
|
| 178 |
+
"err_ms": 27.5
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 133.6,
|
| 182 |
+
"corr": 0.768,
|
| 183 |
+
"err_ms": 131.2
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.039985615886843226,
|
| 188 |
+
"t_end": 138.0399076158859,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 27221.511049,
|
| 195 |
+
"frames": 4141,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.03987488584913888,
|
| 201 |
+
"t_end": 138.0398078858483,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 27220.625208,
|
| 208 |
+
"frames": 4146,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.8482817702030216,
|
| 214 |
+
"t_end": 137.3184502297985,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 27220.724096,
|
| 221 |
+
"frames": 4143,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.7493937702025788,
|
| 227 |
+
"t_end": 137.31798922979885,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM85-S01-xiaobo-01p2-1.mp4",
|
| 233 |
+
"frames": 4142,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 138.03333333333333
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "e3296774a321bb51/20261028-afternoon/labels-325140/session-c5a87810e0cd6951",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
+
[
|
| 247 |
+
-0.67701329,
|
| 248 |
+
0.31367237,
|
| 249 |
+
-0.66577973
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
0.73526773,
|
| 253 |
+
0.32780079,
|
| 254 |
+
-0.5932352
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.03216163,
|
| 258 |
+
-0.89115447,
|
| 259 |
+
-0.45255866
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"p_tracker0_imu0_m": [
|
| 263 |
+
-0.16553747350967873,
|
| 264 |
+
-0.0053177711999755186,
|
| 265 |
+
-0.052446287531606926
|
| 266 |
+
],
|
| 267 |
+
"rig_check": {
|
| 268 |
+
"gyro_samples": 1896,
|
| 269 |
+
"gyro_max_deg": 2.5,
|
| 270 |
+
"status": "gyro_rotation",
|
| 271 |
+
"dropped_marker": null,
|
| 272 |
+
"gyro_deg": 0.0,
|
| 273 |
+
"video_solve": {
|
| 274 |
+
"status": "ok",
|
| 275 |
+
"reason": "",
|
| 276 |
+
"reprojection_px": 3.221,
|
| 277 |
+
"n_assoc": 313,
|
| 278 |
+
"gyro_deg": 2.577
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
+
},
|
| 284 |
+
"canonical": {
|
| 285 |
+
"generated_at_utc": "2026-10-30T18:48:17.892012+00:00",
|
| 286 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 288 |
+
"R_canon_nokov": [
|
| 289 |
+
[
|
| 290 |
+
0.9999849425,
|
| 291 |
+
0.0054876377,
|
| 292 |
+
2.47109e-05
|
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261028/LM85/20261028_082132_session79",
|
| 4 |
+
"session_id": "20261028_082132_session79",
|
| 5 |
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"primitive": "LM85",
|
| 6 |
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"batch": "20261028",
|
| 7 |
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"participant": "xiaobo",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
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| 10 |
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"main": "e3296774a321bb51",
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| 11 |
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"left": "39042f5fb5da3b12",
|
| 12 |
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"right": "65a3481473d6e2a0"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-28T20:05:27.064006+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 137.95833333333334,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.083344,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.085,
|
| 31 |
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"peak_corr": 0.9953,
|
| 32 |
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"reference_imu_first_sample_s": 27389.43184757,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 12,
|
| 35 |
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"window_corr_median": 0.9954637602679277,
|
| 36 |
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"drift_ppm": 10.168365042095393,
|
| 37 |
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"drift_se_ppm": 2.929841547822493,
|
| 38 |
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"drift_ms_over_take": 1.4027259575570594,
|
| 39 |
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"lag_scatter_ms": 0.31983171666708926,
|
| 40 |
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"lag_range_ms": 2.0253599810620413
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
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| 54 |
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-1.0
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| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
+
"n_acc": 27854,
|
| 76 |
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"n_gyro": 27847,
|
| 77 |
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"t_start": -0.09977394906330743,
|
| 78 |
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"t_end": 138.15107369393786
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 27718,
|
| 82 |
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"n_gyro": 27713,
|
| 83 |
+
"t_start": 0.0155924669377447,
|
| 84 |
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"t_end": 138.31697926693573
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27961,
|
| 88 |
+
"n_gyro": 27975,
|
| 89 |
+
"t_start": -0.8783311800618656,
|
| 90 |
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"t_end": 136.935310716937
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27802,
|
| 94 |
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"n_gyro": 27802,
|
| 95 |
+
"t_start": -0.8230040240634815,
|
| 96 |
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"t_end": 136.9350379279383
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"hand_vs_marker_frame_deg": {
|
| 475 |
+
"before": 43.08,
|
| 476 |
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"after": 2.08
|
| 477 |
+
},
|
| 478 |
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"markers_on_wrist": [
|
| 479 |
+
"RHandIn",
|
| 480 |
+
"RHandOut"
|
| 481 |
+
],
|
| 482 |
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"forearm_twist": {
|
| 483 |
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"twist_moved_deg": -76.7,
|
| 484 |
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"wrist_twist_deg_after": {
|
| 485 |
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"median": -0.0,
|
| 486 |
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"iqr": [
|
| 487 |
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-0.9,
|
| 488 |
+
0.8
|
| 489 |
+
]
|
| 490 |
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},
|
| 491 |
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"wrist_total_deg_median_after": 15.8,
|
| 492 |
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"markers_on_forearm": [
|
| 493 |
+
"RForearm",
|
| 494 |
+
"RWristIn",
|
| 495 |
+
"RWristOut"
|
| 496 |
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]
|
| 497 |
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},
|
| 498 |
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"frames_used": 1500
|
| 499 |
+
},
|
| 500 |
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"generated_at_utc": "2026-11-02T16:40:17.931105+00:00",
|
| 501 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 502 |
+
}
|
| 503 |
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},
|
| 504 |
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"release": {
|
| 505 |
+
"release_path": "actions/locomanipulation/LM85/session_053",
|
| 506 |
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"family": "locomanipulation",
|
| 507 |
+
"primitive": "LM85",
|
| 508 |
+
"source_session": "20261028/LM85/20261028_082132_session79"
|
| 509 |
+
},
|
| 510 |
+
"task": {
|
| 511 |
+
"primitive": "LM85",
|
| 512 |
+
"instruction": "Carry the box across the room, back and forth. The operator will swap between the box with handles and the one without."
|
| 513 |
+
},
|
| 514 |
+
"objects": [
|
| 515 |
+
{
|
| 516 |
+
"name": "BigBox2",
|
| 517 |
+
"object_type": "BigBox",
|
| 518 |
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"source": "mocap",
|
| 519 |
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"pose_frame": "rigid_body"
|
| 520 |
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}
|
| 521 |
+
]
|
| 522 |
+
}
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actions/locomanipulation/LM85/session_053/motions/head_rig.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:96426fd8c1a02d6b89e97ab76fc99528ac4d019701cafe5f63a0845a87d4c2f7
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size 1228006
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actions/locomanipulation/LM85/session_053/motions/markers.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 9581715
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actions/locomanipulation/LM85/session_053/motions/object_markers.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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oid sha256:9138d131cb41f9eeb6539a7990d48bf9a0858daccd0e4211d1722c60d33f86e9
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size 774027
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actions/locomanipulation/LM85/session_053/motions/objects.json
ADDED
|
@@ -0,0 +1,52 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
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"session": "20261028/LM85/20261028_082132_session79",
|
| 3 |
+
"generated_at_utc": "2026-11-04T20:21:26.064018+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox2",
|
| 11 |
+
"object_type": "BigBox",
|
| 12 |
+
"source": "mocap",
|
| 13 |
+
"pose_frame": "rigid_body",
|
| 14 |
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"mesh": null,
|
| 15 |
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"calibration": null,
|
| 16 |
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"valid_pct": 99.4,
|
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"verified_pct": 99.4,
|
| 18 |
+
"moving_pct": 94.25,
|
| 19 |
+
"vision_source": null
|
| 20 |
+
}
|
| 21 |
+
],
|
| 22 |
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"absent": [
|
| 23 |
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{
|
| 24 |
+
"name": "LittleBox5",
|
| 25 |
+
"object_type": "LittleBox",
|
| 26 |
+
"valid_s": 0.0
|
| 27 |
+
}
|
| 28 |
+
],
|
| 29 |
+
"object_list": {
|
| 30 |
+
"status": "match",
|
| 31 |
+
"notes": [],
|
| 32 |
+
"declared": [
|
| 33 |
+
"BigBox2",
|
| 34 |
+
"LittleBox5"
|
| 35 |
+
],
|
| 36 |
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"listed": [
|
| 37 |
+
{
|
| 38 |
+
"name": "BigBox2",
|
| 39 |
+
"object": "BigBox",
|
| 40 |
+
"source": "mocap",
|
| 41 |
+
"needs_video_check": false
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"name": "LittleBox5",
|
| 45 |
+
"object": "LittleBox",
|
| 46 |
+
"source": "mocap",
|
| 47 |
+
"needs_video_check": false
|
| 48 |
+
}
|
| 49 |
+
]
|
| 50 |
+
},
|
| 51 |
+
"notes": []
|
| 52 |
+
}
|